Paul Coker, 32, died at Plumstead police station, south-east London, about two hours after he was arrested for breaching the peace in August 2005.
The Crown Prosecution Service (CPS) said there was insufficient evidence to bring charges against an individual.
Mr Coker's family has vowed to hold those involved to account.
Cocaine intoxication
The news comes as the Independent Police Complaints Commission (IPCC), which investigated the death, said officers could still be disciplined.
The IPCC said it would consider any disciplinary issues and make any appropriate recommendations to the Metropolitan Police Service after the inquest.
In a statement Mr Coker's family said: "The CPS decision not to prosecute anyone in respect of Paul's death is a decision that will not be accepted by the family."
They vowed to "do everything to ensure that the truth emerges and that those involved with Paul's death account for what they did".
Custody review
Mr Coker was arrested at his girlfriend's house in the early hours of 6 August following a violent struggle.
He died two hours later in a police cell and a coroner gave the cause of death as cocaine intoxication.
Investigations were launched by the IPCC and the Metropolitan Police and a review of custody procedures was carried out.
The Met's Ch Supt Chris Jarratt said permanent custody sergeants had been brought in, improvements made to cells and defibrillators added to rooms.
He said: "All police officers and designated detention officers have been trained in dealing with vulnerable and mentally disordered prisoners including acute behavioural disorder."
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